CN107223107B - Agricultural unmanned aerial vehicle and spraying control method thereof - Google Patents
Agricultural unmanned aerial vehicle and spraying control method thereof Download PDFInfo
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- CN107223107B CN107223107B CN201680004253.3A CN201680004253A CN107223107B CN 107223107 B CN107223107 B CN 107223107B CN 201680004253 A CN201680004253 A CN 201680004253A CN 107223107 B CN107223107 B CN 107223107B
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- 238000005507 spraying Methods 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims description 21
- 239000007921 spray Substances 0.000 claims abstract description 154
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 112
- 239000007788 liquid Substances 0.000 claims abstract description 18
- 230000009471 action Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims 2
- 239000003595 mist Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000015654 memory Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 3
- 239000000575 pesticide Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
- B64U60/50—Undercarriages with landing legs
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Water Supply & Treatment (AREA)
- Environmental Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Catching Or Destruction (AREA)
Abstract
An agricultural unmanned aerial vehicle (10), comprising: a frame (11); the flight power device (12) is arranged on the frame and used for providing flight power; a plurality of spray heads (13) mounted below the flight power unit (12); the water pumps (14) are respectively communicated with the spray heads and are used for conveying liquid flow to the spray heads (13) and spraying the liquid flow out through the spray heads (13); the controller (15) is electrically connected with the water pumps (14), wherein the controller (15) can selectively control the water pumps (14) to spray through the spray heads (13) communicated with the selected water pumps (14).
Description
Technical Field
The invention relates to an unmanned aerial vehicle, in particular to an agricultural unmanned aerial vehicle and a spraying control method thereof.
Background
Many rotors agricultural unmanned vehicles on the existing market generally adopt single water pump to connect the pipeline, and the shower nozzle is connected to the pipeline to form and spray the liquid way. The method only simply realizes the on-off of the switch of the liquid path system, and cannot realize the accurate control spraying of the agricultural unmanned aerial vehicle.
Disclosure of Invention
In view of the above, the present invention is needed to provide an agricultural unmanned aerial vehicle capable of improving spraying accuracy and a spraying control method thereof.
An agricultural unmanned aerial vehicle comprising:
a frame;
the flight power device is arranged on the frame and used for providing flight power;
a plurality of spray heads installed below the flight power device;
the water pumps are respectively communicated with the spray heads and are used for conveying liquid flow to the spray heads and spraying the liquid flow out through the spray heads; and
a controller electrically connected with the water pump,
the controller can selectively control the water pumps to spray through the selected spray heads communicated with the water pumps.
A method of spray control for an agricultural unmanned aerial vehicle, the method comprising:
selecting at least one water pump from a plurality of water pumps, wherein the plurality of water pumps are respectively communicated with a plurality of spray heads; and
and controlling at least one selected water pump to start working, and spraying through at least one spray head communicated with the water pump.
Through selectively controlling a plurality of the water pumps, corresponding spray heads are selected to spray, so that the spraying area or the spraying effect is controlled, and the spraying accuracy is improved.
Drawings
Fig. 1 is a side view of an agricultural unmanned aerial vehicle according to a first embodiment of the present invention;
FIG. 2 is a bottom view of the agricultural UAV of FIG. 1;
fig. 3 is a perspective view of an agricultural unmanned aerial vehicle according to a second embodiment of the present invention;
FIG. 4 is a bottom view of the agricultural UAV of FIG. 3;
FIG. 5 is a control schematic diagram of the controller of the agricultural unmanned aerial vehicle shown in FIG. 3;
fig. 6 is a flowchart of a spray control method of an agricultural unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present, if desired, or both elements may be directly formed. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The invention provides an agricultural unmanned aerial vehicle which is provided with a plurality of spray heads and is used for spraying liquid such as pesticide, water and the like. The corresponding spraying effect is realized by selecting the spray heads at different positions according to different conditions, so that the spraying precision is improved.
In one embodiment, the spray head is selected to be in an adaptive position according to the flight direction of the agricultural unmanned aerial vehicle, for example, if the penetration force of the spray needs to be increased, when the agricultural unmanned aerial vehicle flies towards the nose direction, the spray head in the nose direction is selected, so that the sprayed fog drops are accelerated to be sprayed downwards under the action of the airflow generated by the flight power device of the agricultural unmanned aerial vehicle. If the spray head in the tail direction is selected when the agricultural unmanned aerial vehicle flies towards the nose direction in order to avoid the influence of the airflow on the fog drops sprayed by the spray head, the spray head in the tail direction is selected, and the sprayed fog drops are influenced by the airflow generated by the flight power device of the unmanned aerial vehicle.
In some embodiments, the spray head is selected to be adaptive to the position according to the wind direction of the working environment of the agricultural unmanned aerial vehicle, for example, if the agricultural unmanned aerial vehicle flies against the wind, the spray head is selected in the direction of the nose, so as to reduce the error caused by the drift of the sprayed fog drops as much as possible. If the agricultural unmanned aerial vehicle flies downwind, the spray head in the tail direction is selected to reduce errors caused by drift of sprayed fog drops as much as possible.
In some of these embodiments, depending on the orientation of the agricultural drone compared to the work area, the adaptive position sprinkler is selected, for example, if the agricultural drone sprays clockwise along the boundaries of the work area, the right side sprinkler of the agricultural drone is selected to avoid excessive spraying outside the work area. If the agricultural unmanned aerial vehicle sprays counterclockwise along the boundary of the work area, the spray head on the left side of the agricultural unmanned aerial vehicle is selected to avoid excessive spraying to the outside of the work area.
In some embodiments, the agricultural unmanned aerial vehicle can automatically select the spray head at the corresponding position according to preset conditions. Or the agricultural unmanned aerial vehicle can select the spray head at the corresponding position according to the input information of the user, and the user selects the spray head according to the current conditions.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1 and 2, an agricultural unmanned aerial vehicle 10 according to an embodiment of the present invention includes a frame 11, a flight power device 12, a plurality of nozzles 13, a plurality of water pumps 14, and a controller 15.
A flight power unit 12 is mounted on the frame 11 for providing flight power. A plurality of spray heads 13 are mounted below the flight power assembly 12. The water pumps 14 are respectively communicated with the spray heads 13 and used for conveying liquid flow to the spray heads 13 and spraying the liquid flow out through the spray heads 13. The controller 15 is electrically connected to the water pump 14. A water tank 16 for containing liquid, and a plurality of the water pumps 14 are communicated with the water tank 16.
Wherein, the controller 15 can selectively control a plurality of the water pumps 14 to spray through the selected spray head 13 communicated with the water pumps 14.
Through selectively controlling a plurality of the water pumps 14, the corresponding spray heads 13 are selected for spraying, so that the spraying area or the spraying effect is controlled, and the spraying accuracy is improved.
The plurality of spray heads 13 are located at different positions of the airframe 11 of the unmanned aerial vehicle, for example, in the illustrated embodiment, the plurality of spray heads 13 are located directly below the plurality of flight power units 12, respectively. Wherein a part of the spray heads 13 are arranged near the head of the agricultural unmanned aerial vehicle 10, and the other part of the spray heads 13 are arranged near the tail of the agricultural unmanned aerial vehicle 10.
Wherein, a plurality of spray heads 13 arranged near the head of the agricultural unmanned aerial vehicle 10 are communicated through the same water pump 14; the plurality of spray heads 13 arranged near the tail of the agricultural unmanned aerial vehicle 10 are communicated through the same water pump 14, so that the plurality of spray heads 13 arranged near the head of the agricultural unmanned aerial vehicle 10 or the plurality of spray heads 13 arranged near the tail of the agricultural unmanned aerial vehicle 10 can be conveniently selected.
Referring to fig. 3 to 5, an agricultural unmanned aerial vehicle 100 according to a second embodiment of the present invention includes a frame 110, a flight power unit 120, a plurality of nozzles 130, a plurality of water pumps 140, and a controller 150.
A flight power unit 120 is mounted to the frame 110 for providing flight power. A plurality of spray heads 130 are mounted below the flight power assembly 120. The plurality of water pumps 140 are respectively communicated with the plurality of nozzles 130, and are used for conveying liquid flow to the nozzles 130 and spraying the liquid flow out through the nozzles 130. The controller 150 is electrically connected to the water pump 140. A water tank 160 for containing liquid, and a plurality of the water pumps 140 communicating with the water tank 160.
The controller 150 can selectively control a plurality of the water pumps 140 to spray through the selected spray head 130 communicated with the water pumps 140.
By selectively controlling a plurality of the water pumps 140, the corresponding spray head 130 is selected to spray, so that the spraying area or the spraying effect is controlled, and the spraying accuracy is improved.
The structure of the frame 110 may be designed according to different requirements, for example, in the illustrated embodiment, the frame 110 includes a central body 110a, a horn 110b, and a landing foot stand 110 c. The horn 110b is coupled to the hub 110a for supporting the flight power assembly 120. The landing foot stand 110c is connected to the central body 110a or the horn 110 b.
The flight power unit 120 may be an electric power unit or an electric power unit. Specifically in the illustrated embodiment, the flight power unit 12 includes a propeller and a motor that drives the propeller to rotate.
The nozzle 130 is located directly below or obliquely below the flight power unit 120. Specifically, in the illustrated embodiment, the plurality of nozzles 130 are mounted on the horn 110b or/and the landing foot stand 110 c. When a plurality of spray heads 130 are installed on the horn 110b, the spray heads 130 are located right below the flight power device 120, which is more beneficial to improving the penetrating power of the spray heads 130.
The specific positions of the spray heads 130 can also be designed according to different requirements, for example, the spray heads 130 are symmetrically arranged relative to the roll axis of the agricultural unmanned aerial vehicle 100, or the spray heads 130 are symmetrically arranged relative to the pitch axis of the agricultural unmanned aerial vehicle 100.
When the plurality of spray heads 130 are respectively arranged symmetrically with respect to the roll axis of the agricultural unmanned aerial vehicle 100, it is convenient to control the spray heads 130 on the left and right sides of the agricultural unmanned aerial vehicle 100 to spray, for example, if the agricultural unmanned aerial vehicle 100 sprays along the boundary of the working area in the clockwise direction, the spray heads 130 on the right side of the agricultural unmanned aerial vehicle 100 may be controlled to spray. If the agricultural unmanned aerial vehicle 100 sprays along the boundary of the working area in the counterclockwise direction, the spray nozzle 130 controlling the left side of the agricultural unmanned aerial vehicle 100 may be controlled to spray.
Specifically, in the illustrated embodiment, the plurality of nozzles 130 includes a nose direction nozzle 130aa and a tail direction nozzle 130bb, the nose direction nozzle 130aa is disposed near the nose of the agricultural unmanned aerial vehicle 100, and the tail direction nozzle 130bb is disposed near the tail of the agricultural unmanned aerial vehicle 100.
If the spraying penetrating power needs to be increased, when the agricultural unmanned aerial vehicle 100 flies towards the nose direction, the nose direction nozzle 130aa is selected, so that the sprayed droplets are accelerated to be sprayed downwards under the action of the airflow generated by the flight power device 120 of the agricultural unmanned aerial vehicle. If the mist ejected from the nozzle 130 is not affected by the airflow, the tail direction nozzle 130bb is selected when the agricultural unmanned aerial vehicle 100 flies toward the nose direction, so that the ejected mist is affected by the airflow generated by the flight power device 120 of the unmanned aerial vehicle.
Each of the water pumps 140 is simultaneously communicated with a plurality of the spray heads 130. For example, the spray nozzles 130 on each side of the roll axis of the agricultural unmanned aerial vehicle 100 are plural and are commonly communicated with one water pump 140. Alternatively, the number of the spray nozzles 130 on each side of the pitch axis of the agricultural unmanned aerial vehicle 100 is plural, and the spray nozzles are communicated with one water pump 140.
Since the spray heads 130 located in the same area are simultaneously communicated with the same water pump 140, it is convenient to control the spray heads 130 in the same area to spray, for example, to control a plurality of spray heads 130 on a corresponding side of the roll shaft of the agricultural unmanned aerial vehicle 100 through one water pump 140, or to control a plurality of spray heads 130 on a corresponding side of the pitch shaft of the agricultural unmanned aerial vehicle 100 through one water pump 140.
Specifically, in the illustrated embodiment, there may be a plurality of the head direction spray heads 130 a. The plurality of head direction nozzles 130a are respectively located at both sides of the frame 110. A plurality of the head direction spray heads 130a are communicated with the same water pump 140. The number of the tail direction nozzle 130b may be plural. The plurality of head direction nozzles 130a are respectively located at both sides of the frame 110. A plurality of the head direction spray heads 130a are communicated with the same water pump 140.
The controller 150 may selectively control a plurality of the water pumps 140 according to a user input signal. Alternatively, the controller 150 may automatically select and control a plurality of the water pumps 140 according to preset conditions, where the preset conditions include at least one of the following: the flight direction of the agricultural unmanned aerial vehicle 100, the wind direction of the working environment, and the orientation of the agricultural unmanned aerial vehicle 100 compared to the working area.
For example, the controller 150 may automatically select and control a plurality of the water pumps 140 according to the flight direction. In one embodiment, when the agricultural unmanned aerial vehicle 100 is oriented in the nose direction, the controller 150 selects the water pump 140 that controls the communication between the nose direction nozzle 130a and the tail direction nozzle 130b, so as to spray through the nose direction nozzle 130a or the tail direction nozzle 130 b.
In one embodiment, the controller 150 may automatically select and control the water pump 140 communicated with the spray head 130 on one side of the roll shaft of the agricultural unmanned aerial vehicle 100 or the water pump 140 communicated with the spray head 130 on the other side of the roll shaft of the agricultural unmanned aerial vehicle 100 according to the orientation of the agricultural unmanned aerial vehicle 100 compared with the working area.
In one embodiment, the controller 150 may select the water pump 140 for controlling the spray head 130 on one side of the pitch axis of the agricultural unmanned aerial vehicle 100 to communicate with or the water pump 140 for controlling the spray head 130 on the other side of the pitch axis of the agricultural unmanned aerial vehicle 100 to communicate with according to the flight direction of the agricultural unmanned aerial vehicle 100 or the wind direction of the working environment, or the flight direction and the wind direction of the working environment.
Specifically, in the illustrated embodiment, when the agricultural unmanned aerial vehicle 100 is oriented toward the tail, the controller 150 selectively controls the water pump 140 communicated with the head direction nozzle 130a or the tail direction nozzle 130b, so as to spray through the head direction nozzle 130a or the tail direction nozzle 130 b. For example, if the penetrating force of the spray needs to be increased, when the agricultural unmanned aerial vehicle 100 flies toward the nose direction, the nose direction nozzle 130a is selected so that the ejected mist droplets are accelerated to be ejected downward by the airflow generated by the flight power device 120 of the unmanned aerial vehicle. If the mist ejected from the nozzle 130 is not affected by the airflow, the tail direction nozzle 130b is selected when the agricultural unmanned aerial vehicle 100 flies toward the head direction, so that the ejected mist is affected by the airflow generated by the flight power device 120 of the unmanned aerial vehicle.
The specific configuration of the controller 150 may also be designed according to different requirements, and in the illustrated embodiment, the controller 150 includes an aircraft controller 150a and a plurality of electrical tunes 150 b. The aircraft controller 150 is used for controlling the flight attitude of the agricultural unmanned aerial vehicle 100. A plurality of electrical tilt 150b are communicatively coupled to the flight controller 150.
The water pump 140 may be a diaphragm pump, a rotor pump, a vane pump, a centrifugal pump, an axial flow pump, a mixed flow pump, a vortex pump, a jet pump, or the like. The water pump 140 includes a driving motor 140a, and each electric tilt 150b is electrically connected to the motor 140a of one water pump 140, and is configured to control a working state of the motor 140 a.
The motor may be a brushed dc motor or a brushless dc motor. The motor can be an outer rotor motor or an inner rotor motor. Specifically, in the illustrated embodiment, the motor is a brushless dc motor, and the electric motor is driven by a PWM wave modulation method. Through the change of brushless electric regulation PWM numerical value, control water pump 140 rotational speed changes to the control water pump 140 output pressure value changes, realizes the control of shower nozzle 130 flow size, thereby further improves the precision of spraying.
The water tank 160 may communicate with the water pump 140 through a pipe. The water pump 140 is in communication with the spray head 130 via a pipe. After the water pump 140 pumps the liquid in the water tank 160, the liquid is transported to the spray head 130 through the pipeline and sprayed out through the spray head 130.
The water tank 160 may contain a liquid such as a pesticide, water, etc. The water tank 160 may be installed under the central body 110a of the rack 110, and particularly, the water tank 160 may be fixedly coupled with the central body 110a of the rack 110, or the water tank 160 may be fixedly coupled with the landing foot stand 110c of the rack 110.
Referring to fig. 3 and 6, based on the agricultural unmanned aerial vehicle 100, the present invention further provides a spraying control method for the agricultural unmanned aerial vehicle 100.
The spraying control method of the agricultural unmanned aerial vehicle 100 of the embodiment of the invention comprises the following steps.
S101, selecting at least one water pump 140 from a plurality of water pumps 140, wherein the plurality of water pumps 140 are respectively communicated with the plurality of spray heads 130.
The specific positions of the plurality of spray nozzles 130 may also be designed according to different requirements, for example, the plurality of spray nozzles 130 are symmetrically arranged compared to the roll axis of the agricultural unmanned aerial vehicle 100, and the water pump 140 communicated with the spray nozzle 130 on one side of the roll axis of the agricultural unmanned aerial vehicle 100 or the water pump 140 communicated with the spray nozzle 130 on the other side of the roll axis of the agricultural unmanned aerial vehicle 100 is selected.
Alternatively, the plurality of nozzles 130 are symmetrically arranged with respect to the pitch axis of the agricultural unmanned aerial vehicle 100. Selecting the water pump 140 communicated with the spray nozzle 130 on one side of the pitch axis of the agricultural unmanned aerial vehicle 100 or the water pump 140 communicated with the spray nozzle 130 on the other side of the pitch axis of the agricultural unmanned aerial vehicle 100.
Specifically, in the illustrated embodiment, the plurality of nozzles 130 include a nose direction nozzle 130a and a tail direction nozzle 130b, the nose direction nozzle 130a is disposed near the nose of the agricultural unmanned aerial vehicle 100, and the tail direction nozzle 130b is disposed near the tail of the agricultural unmanned aerial vehicle 100.
Each of the water pumps 140 is simultaneously communicated with a plurality of the spray heads 130. For example, the spray nozzles 130 on each side of the roll axis of the agricultural unmanned aerial vehicle 100 are plural and are commonly communicated with one water pump 140. Alternatively, the number of the spray nozzles 130 on each side of the pitch axis of the agricultural unmanned aerial vehicle 100 is plural, and the spray nozzles are communicated with one water pump 140.
Specifically, in the illustrated embodiment, there may be a plurality of the head direction spray heads 130 a. The plurality of head direction nozzles 130a are respectively located at both sides of the frame 110. A plurality of the head direction spray heads 130a are communicated with the same water pump 140. The number of the tail direction nozzle 130b may be plural. The plurality of head direction nozzles 130a are respectively located at both sides of the frame 110. A plurality of the head direction spray heads 130a are communicated with the same water pump 140.
When the agricultural unmanned aerial vehicle 100 faces the nose direction, the water pump 140 communicated with the nose direction nozzle 130a or the tail direction nozzle 130b is selected, and spraying is performed through the nose direction nozzle 130a or the tail direction nozzle 130 b.
Or when the agricultural unmanned aerial vehicle 100 faces the tail direction, the water pump 140 communicated with the head direction nozzle 130a or the tail direction nozzle 130b is selected, and spraying is performed through the head direction nozzle 130a or the tail direction nozzle 130 b.
S102, controlling at least one selected water pump 140 to start working, and spraying through a spray head 130 communicated with the at least one water pump 140.
The water pump 140 may be a diaphragm pump, a rotor pump, a vane pump, a centrifugal pump, an axial flow pump, a mixed flow pump, a vortex pump, a jet pump, or the like. The water pump 140 comprises driving motors, and each electric speed is electrically connected with one motor of the water pump 140 and used for controlling the working state of the motor.
The motor may be a brushed dc motor or a brushless dc motor. The motor can be an outer rotor motor or an inner rotor motor. Specifically, in the illustrated embodiment, the motor is a brushless dc motor, and is driven by a PWM wave modulation method.
Many features of the invention can be implemented in, using, or by way of hardware, software, firmware, or combinations thereof. Thus, features of the present invention may be implemented using a processing system (e.g., comprising one or more processors). Exemplary processors may include, but are not limited to, one or more general purpose microprocessors (e.g., single core or multi-core processors), application specific integrated circuits, application specific instruction set processors, graphics processing units, physical processing units, digital signal processing units, co-processors, network processing units, audio processing units, cryptographic processing units, and the like.
Features of the present invention can be implemented in, used with, or by means of a computer program product, which is one or more storage media or one or more computer-readable media having stored thereon/in which instructions can be used to program a processing system to perform any of the features described herein. The storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, DVDs, CD-ROMs, micro-and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
Stored on any one of one or more machine readable media, the features of the present invention may be incorporated into software and/or firmware to control the hardware of a processing system and to enable the processing system to interact with other mechanisms that utilize the results of the present invention. Such software or firmware may include, but is not limited to, application code, device drivers, operating systems, and execution environments/containers.
Features of the invention may also be implemented in hardware, for example, using hardware components such as Application Specific Integrated Circuit (ASIC) and Field Programmable Gate Array (FPGA) devices. Implementation of a hardware state machine to perform the functions described herein will be apparent to one skilled in the relevant art.
Furthermore, the invention may be conveniently implemented using one or more conventional general purpose or special purpose digital computers, computing devices, machines or microprocessors, including one or more processors, memories, and/or computer readable media programmed according to the teachings of the present disclosure. Appropriate software coding can be readily prepared by skilled programmers based on the teachings of the present disclosure, as will be apparent to those skilled in the software art.
In the embodiments provided in the present invention, it should be understood that the disclosed related devices and methods can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (11)
1. An agricultural unmanned aerial vehicle, comprising:
a frame;
the flight power device is arranged on the frame and used for providing flight power;
a plurality of spray heads installed below the flight power device;
the water pumps are respectively communicated with the spray heads and are used for conveying liquid flow to the spray heads and spraying the liquid flow out through the spray heads; and
a controller electrically connected with the water pump,
the controller can selectively control the water pumps to spray through the selected spray heads communicated with the water pumps;
the controller automatically selects and controls the plurality of water pumps according to preset conditions;
(a) the preset condition comprises the flight direction of the agricultural unmanned aerial vehicle;
the plurality of spray heads comprise a machine head direction spray head and a machine tail direction spray head, the machine head direction spray head is arranged close to a machine head of the agricultural unmanned aerial vehicle, and the machine tail direction spray head is arranged close to a machine tail of the agricultural unmanned aerial vehicle; each water pump is simultaneously communicated with a plurality of machine head direction spray heads or a plurality of machine tail direction spray heads;
when the agricultural unmanned aerial vehicle flies towards the direction of the aircraft nose, the controller selectively controls the water pump communicated with the nozzle in the direction of the aircraft nose so as to spray through the nozzle in the direction of the aircraft nose, so that the sprayed fog drops are accelerated and sprayed downwards under the action of airflow generated by a flight power device of the agricultural unmanned aerial vehicle; when the agricultural unmanned aerial vehicle flies towards the tail direction, the controller selectively controls the water pump communicated with the tail direction spray head so as to spray through the tail direction spray head, and the sprayed fog drops are sprayed downwards at an accelerated speed under the action of airflow generated by a flight power device of the agricultural unmanned aerial vehicle; alternatively, the first and second electrodes may be,
(b) the preset condition comprises the orientation of the agricultural unmanned aerial vehicle compared with a working area;
the plurality of spray heads are respectively arranged symmetrically compared with the roll axis of the agricultural unmanned aerial vehicle; each spray head is communicated with a plurality of spray heads positioned on the same side of a transverse rolling shaft of the agricultural unmanned aerial vehicle;
if the agricultural unmanned aerial vehicle sprays along the boundary of the working area in the clockwise direction, the controller selects and controls the water pump communicated with the spray head on the right side of the transverse roller of the agricultural unmanned aerial vehicle so as to avoid excessive spraying to the outside of the working area; if the agricultural unmanned aerial vehicle sprays according to the boundary of the counterclockwise working area, the controller selects and controls the water pump communicated with the spray head on the left side of the transverse roller of the agricultural unmanned aerial vehicle so as to avoid excessive spraying to the outside of the working area.
2. The agricultural unmanned aerial vehicle of claim 1, wherein the spray head is located directly or obliquely below the flight power unit.
3. The agricultural UAV of claim 1, wherein the frame comprises a hub, a horn, and a landing foot;
the horn is connected with the central body and is used for supporting the flight power device;
the landing foot rest is connected with the central body or the horn;
wherein a plurality of the spray heads are arranged on the machine arm or/and the landing foot rest.
4. The agricultural unmanned aerial vehicle of claim 1, wherein the controller comprises:
the aircraft controller is used for controlling the flight attitude of the agricultural unmanned aircraft;
a plurality of electrical tunes in communication with the aircraft controller;
the water pump comprises driving motors, and each electric speed regulator is electrically connected with one motor of the water pump and used for controlling the working state of the motor.
5. The agricultural unmanned aerial vehicle of claim 4, wherein the motor is a brushless DC motor, and the electric regulation drives the motor through a PWM wave modulation mode.
6. A spraying control method of an agricultural unmanned aerial vehicle is applied to a controller and comprises the following steps:
selecting at least one water pump from a plurality of water pumps, wherein the plurality of water pumps are respectively communicated with a plurality of spray heads; and
controlling at least one selected water pump to start working, and spraying through a spray head communicated with the at least one water pump; wherein a plurality of the water pumps are automatically selected and controlled according to preset conditions,
(a) the preset condition comprises the flight direction of the agricultural unmanned aerial vehicle;
the plurality of nozzles comprise a plurality of head direction nozzles and a plurality of tail direction nozzles, the plurality of head direction nozzles are arranged close to the head of the agricultural unmanned aerial vehicle, and the plurality of tail direction nozzles are arranged close to the tail of the agricultural unmanned aerial vehicle;
each water pump is simultaneously communicated with a plurality of machine head direction spray heads or a plurality of machine tail direction spray heads;
when the agricultural unmanned aerial vehicle flies towards the direction of the aircraft nose, the water pump communicated with the aircraft nose direction spray head is selected, and the water pump is sprayed through the aircraft nose direction spray head, so that the sprayed fog drops are accelerated to be sprayed downwards under the action of airflow generated by a flight power device of the agricultural unmanned aerial vehicle; when the agricultural unmanned aerial vehicle flies towards the tail direction, the controller selectively controls the water pump communicated with the tail direction spray head so as to spray through the tail direction spray head, and the sprayed fog drops are sprayed downwards at an accelerated speed under the action of airflow generated by a flight power device of the agricultural unmanned aerial vehicle; alternatively, the first and second electrodes may be,
(b) the preset condition comprises the orientation of the agricultural unmanned aerial vehicle compared with a working area;
the plurality of spray heads are respectively arranged symmetrically compared with the roll axis of the agricultural unmanned aerial vehicle; each spray head is communicated with a plurality of spray heads positioned on the same side of a transverse rolling shaft of the agricultural unmanned aerial vehicle;
if the agricultural unmanned aerial vehicle sprays along the boundary of the working area in the clockwise direction, the controller selects and controls the water pump communicated with the spray head on the right side of the transverse roller of the agricultural unmanned aerial vehicle so as to avoid excessive spraying to the outside of the working area; if the agricultural unmanned aerial vehicle sprays according to the boundary of the counterclockwise working area, the controller selects and controls the water pump communicated with the spray head on the left side of the transverse roller of the agricultural unmanned aerial vehicle so as to avoid excessive spraying to the outside of the working area.
7. The agricultural unmanned aerial vehicle of claim 6, comprising a frame, and a flight power unit mounted on the frame for providing flight power; the plurality of spray heads are installed below the flight power device.
8. The agricultural unmanned aerial vehicle spraying control method of claim 7, wherein the spray head is located directly below or obliquely below the flight power unit.
9. The agricultural unmanned aerial vehicle spray control method of claim 7, wherein the airframe comprises a hub, an arm, and a landing foot;
the horn is connected with the central body and is used for supporting the flight power device;
the landing foot rest is connected with the central body or the horn;
wherein a plurality of spray heads are arranged on the machine arm or/and the landing foot rest.
10. The agricultural unmanned aerial vehicle spraying control method of claim 6, wherein the water pump comprises a driving motor, and the electric regulation is used for controlling the working state of the motor.
11. The agricultural unmanned aerial vehicle spraying control method of claim 10, wherein the motor is a brushless dc motor, and the electric regulator drives the motor by a PWM wave modulation method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110266594.0A CN112829945B (en) | 2016-11-24 | 2016-11-24 | Agricultural unmanned aerial vehicle and spraying control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/107148 WO2018094663A1 (en) | 2016-11-24 | 2016-11-24 | Agricultural unmanned aerial vehicle and spraying control method therefor |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110266594.0A Division CN112829945B (en) | 2016-11-24 | 2016-11-24 | Agricultural unmanned aerial vehicle and spraying control method thereof |
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| CN107223107A CN107223107A (en) | 2017-09-29 |
| CN107223107B true CN107223107B (en) | 2021-04-06 |
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| CN202110266594.0A Active CN112829945B (en) | 2016-11-24 | 2016-11-24 | Agricultural unmanned aerial vehicle and spraying control method thereof |
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| CN202110266594.0A Active CN112829945B (en) | 2016-11-24 | 2016-11-24 | Agricultural unmanned aerial vehicle and spraying control method thereof |
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| JP (1) | JP6880381B2 (en) |
| CN (2) | CN107223107B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112829945B (en) | 2023-01-20 |
| JP6880381B2 (en) | 2021-06-02 |
| CN107223107A (en) | 2017-09-29 |
| JP2020500026A (en) | 2020-01-09 |
| US20190009907A1 (en) | 2019-01-10 |
| US11014668B2 (en) | 2021-05-25 |
| WO2018094663A1 (en) | 2018-05-31 |
| CN112829945A (en) | 2021-05-25 |
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